Preprint Open access
DR-IPC: Disturbance-Resilient Integrated Planning and Control for LiDAR-Based Quadrotor Navigation
LiDAR-based quadrotor navigation in cluttered environments remains challenging under external disturbances, particularly when obstacle-aware motion generation and disturbance-rejection control are handled in separate layers. This article presents disturbance-resilient integrated planning and control (DR-IPC), which com …